JP7015123B2 - Handling robot and how to use it - Google Patents

Description

The present invention relates to a handling robot capable of transporting and assembling a heavy transported member such as a reinforcing bar to a predetermined position at a construction site of an excavation tunnel, for example, and a method of using the same.

In the rebar assembly work at the skeleton construction site such as excavation tunnels, for example, earth retaining walls are constructed with sheet piles etc. on both side walls of the skeleton construction site where the ground is excavated in the ground, and cutting beams etc. are constructed between the earth retaining walls. Is installed in the vertical and horizontal directions. Moreover, an intermediate pile that supports the lining plate for running the vehicle provided at the upper part is driven in the vertical direction.

As a reinforcing bar assembly mechanism at such a skeleton construction site, for example, those described in Patent Documents 1 and 2 have been proposed. In Patent Document 1, the main bar is inserted into an upright pipe between the support plate of the pedestal provided with the scaffold and the mounting plate, and shear reinforcing bars are installed on the mounting plate at predetermined intervals and bound to the main bar. Assembling the reinforcing bar basket.
Further, in Patent Document 2, each main bar is arranged on a main bar holding member provided with a main bar holder on the main bar positioning jig, and the reinforcing frame and the main bar positioning jig are used in combination to form a reinforcing bar cage with the main bar, the hoop bar, and the reinforcing bar. It is firmly assembled.

Japanese Unexamined Patent Publication No. 07-217574 Japanese Unexamined Patent Publication No. 2012-26247

However, when assembling reinforcing bars at a skeleton construction site such as an excavation tunnel, even if it is possible to transport the reinforcing bar bundle to the site with a crane or the like and temporarily place it, the transportation and positioning of individual reinforcing bars, etc. At that time, it was difficult to perform detailed positioning work of each reinforcing bar using a crane or the like because the girders and intermediate piles became obstacles. Therefore, at such a site, the reinforcing bars had to be transported by the human power of a large number of workers for positioning, placement and assembly.

On the other hand, the reinforcing bars used for assembly, etc. tend to be longer because there is a need to reduce the number of reinforcing bar joints in order to reduce costs, and there is a demand for increasing the diameter of the reinforcing bars due to seismic design. The weight and length per book is increasing.
Therefore, when transporting and assembling long and large-diameter reinforcing bars manually at a skeleton construction site or the like, it is necessary to work with a large number of people, which is a difficult task. In addition, there is a limit to the increase in diameter and length of the reinforcing bar due to manual transportation and assembly.

The present invention has been made in view of the above-mentioned problems, and provides a handling robot capable of easily transporting and assembling a heavy weighted member such as a reinforcing bar and reducing a burdensome work, and a method of using the same. With the goal.

The handling robot according to the present invention is a handling robot detachably attached to the support member, and is rotatably attached to the base swivel portion detachably attached to the support member and the base swivel portion. The first arm, the elbow swivel portion rotatably mounted on the first arm, the second arm rotatably mounted on the elbow swivel portion, and the second arm attached to the second arm to be transported. A gripping portion capable of gripping a member and an operating member for rotating the handling robot in at least one of a horizontal direction and a vertical direction are provided, and the first arm is provided between the base swivel portion and the first arm. And at least one of the joints between the elbow swivel and the elbow swivel and the second arm can be attached and detached, and the joints are connected by pin joining using a joint pin. It is a feature.
According to the present invention, it is possible to grip the member to be transported by the grip portion of the handling arm and bear the weight thereof to perform operations such as transportation and assembly, and further, the first arm, the elbow swivel portion and the second arm can be combined. Since it can rotate in the horizontal direction and the vertical direction, the transported member can be efficiently transported and assembled with little effort. Further, since the handling arm can be attached to and detached from the support member, the transported member can be efficiently transported and assembled by removing the handling arm by dividing it after the work is completed and attaching it to another support member.
When moving the handling robot, it can be divided appropriately in a short time, so it is easy to disassemble and assemble and it is convenient to move.

Further, the grip portion may selectively take a protruding position protruding from the second arm and a storage position housed in the second arm.
Further, the grip portion may have a hook member.
Further, the tip of the second arm may include the operating member and a wheel that has landed on the ground, and the wheel may be installed so as to project downward from the operating member.

Further, the operation member may include an operation grip that can move the handling robot in the horizontal direction and the vertical direction, or an operation grip that can move the handling robot in the horizontal direction and an operation button that can move the handling robot in the vertical direction. ..
The operating member can move the handling robot in the horizontal direction or the vertical direction by operating the operating grip in the horizontal direction or the vertical direction. Alternatively, the operation grip can be operated horizontally to move the handling robot horizontally, and the operation buttons can be used to move the handling robot vertically.

The method of using the handling robot according to the present invention is a method of using the handling robot detachably attached to the support member, and is rotatable and detachable to each of the base swivel portions detachably attached to the support member. The first arm, the elbow swivel portion, and the second arm are sequentially connected, and the conveyed member can be held by the grip portion provided on the second arm, and the first arm can be operated by the operating member. While rotating at least one of the elbow swivel portion and the second arm in at least one of the horizontal direction and the vertical direction, the transported member is transported to a predetermined position, and the root swivel portion and the first arm are transported. , The joint between the first arm and the elbow swivel, and at least one of the joints between the elbow swivel and the second arm, and the joint is pin-joined using a joint pin. It is characterized by being connected by.
Further, in the method of using the handling robot according to the present invention, the transported member may be transported and installed at a predetermined position by one or more operators or by one or more operators and an assistant. ..
Further, the conveyed member may be a reinforcing bar.
Further, the method of using the handling robot according to the present invention is not limited to the long member as the conveyed member. For example, when transporting a bundle of a large number of short members, only one operator can transport the strip members. Further, it is also possible to carry by one operator and one or more assistants depending on the length and weight of the member to be carried.

According to the handling robot and the method of using the robot according to the present invention, the transported member can be gripped by the gripping portion and the weight thereof can be borne by the gripping portion to carry out operations such as transportation and assembly, and the operator can perform operations such as transportation and assembly. It is possible to carry and assemble by simply grasping and moving the operating member without burdening the user. Therefore, it is not necessary for a large number of people to bear the weight of the member to be transported, and a small number of assistants need to balance the weight as needed, which can greatly improve the painful work.
In addition, since the handling robot can be attached to and detached from the support member in a short time, by removing it after the work is completed and attaching it to another support member, the mounting location of the handling robot can be changed even if there is an obstacle at the site. This makes it possible to easily and efficiently carry out operations such as transportation and assembly of the transported member.

It is a perspective view which shows the use state of the handling robot by embodiment of this invention. It is a perspective view which shows the grip part and the operation grip provided in the tip part of a handling robot. (A) is a diagram showing the mounting state of the root swivel portion to the intermediate pile, and (b) is a diagram showing the mounting state of the root swivel portion and the rear end portion of the first arm. (A) is a diagram showing the mounting state of the tip end portion of the first arm and the elbow swivel portion, and (b) is a diagram showing the mounting state of the elbow swivel portion and the rear end portion of the second arm. It is a top view which shows the rotation range of a handling robot. It is a main part explanatory drawing which shows the use state of the handling robot at the construction site of an excavation tunnel. It is a main part perspective view which shows the tip part of the handling robot by 2nd Embodiment. It is a figure which shows the state which the grip part is housed in the tip part of the 2nd arm part. As a modification, it is a perspective view which provided the hook member in the grip part.

Hereinafter, the handling robot according to the embodiment of the present invention will be described with reference to the accompanying drawings.
1 to 6 show the handling robot 1 according to the first embodiment. The handling robot 1 according to the first embodiment is generally used for underground structures, underground underpasses, etc., and is used for transporting and assembling reinforcing bars and the like in a narrow underground space, an underground space with obstacles, and the like. As shown in FIG. 1, the handling robot 1 of the present embodiment is installed, for example, at a skeleton construction site excavated underground at a construction site of an excavation tunnel. That is, earth retaining walls are constructed with sheet piles and the like on both side walls of the underground skeleton construction site, and girders and the like are constructed in the vertical and horizontal directions on the abdomen of the earth retaining walls. Moreover, in order to support the temporary lining plate that allows vehicles to pass above the ground during underground construction, it is assumed that the intermediate piles 2 are vertically driven at predetermined intervals.

In FIG. 1, the handling robot 1 is attached to an intermediate pile 2 made of, for example, H steel, which is constructed at the site. The handling robot 1 has a base swivel portion 4 detachably attached to the flange portion 2a of the intermediate pile 2, a first arm 5 detachable from the base swivel portion 4, and a detachable first arm 5. An elbow swivel portion 6 and a second arm 7 that can be attached to and detached from the elbow swivel portion 6 are attached. Moreover, the first arm 5, the elbow swivel portion 6, and the second arm 7 can each rotate in the horizontal direction.
Further, an elevating cylinder 8 for moving the second arm 7 up and down is installed between the elbow swivel portion 6 and the second arm 7. Therefore, the second arm 7 can rotate in the horizontal direction and in the vertical direction. As shown in FIG. 2, a support shaft 11 is hung from the tip of the second arm 7, and a grip portion 12 for gripping the reinforcing bar 14 is installed below the support shaft 11. An operating member 13 for moving the handling robot 1 in the triaxial direction is connected to the tip of the second arm 7.

Next, the connection structure of the handling robot 1 will be described with reference to FIGS. 3 and 4.
In FIG. 3A, for example, in the base swivel portion 4, the upper support plate 16 and the lower support box 17 connected to each other are flanged by an intermediate pile 2 by means of substantially U-shaped angle jigs 18 provided on both sides thereof. It is fitted to each of the portions 2a. Moreover, each angle jig 18 is fixed to the flange portion 2a by tightening bolts through screw holes 18a provided at both ends thereof.
Further, as shown in FIG. 3B, the upper support plate 16 and the lower support box 17 rotate the rotating plates 21 and 21 in the horizontal direction via the first rotating shafts 20 and 20 provided vertically, respectively. I support it as much as possible. A substantially U-shaped pin holding frame 5a having an insertion hole provided in the upper part of the rear end portion of the first arm 5 is fitted into the pin hole 21a provided in the upper rotating plate 21 to be inserted into the pin hole 21a. The first joint pin 22 is inserted through the hole and connected. Further, the hook-shaped hook portion 5b provided in the lower part of the first arm 5 is engaged with the second joint pin 23 connected to the rotating plate 21 provided in the lower support box 17.
Therefore, the first arm 5 is movable in the horizontal direction about the first rotation shaft 20 provided in the base turning portion 4.

Next, in FIG. 4A, the third joint pin 25 is supported on the upper portion of the tip end portion of the first arm 5. A hook plate 27 is rotatably supported on the upper part of the second rotating shaft 26 extending vertically extending at the rear end of the elbow swivel portion 6, and the hook-shaped hook portion 27a of the hook plate 27 is the third. It is engaged with the joint pin 25. Further, a lower support plate 28 is rotatably supported in the lower part of the second rotation shaft 26 in the horizontal direction, and the upright plate 28a of the lower support plate 28 is screwed and fixed to the tip end portion of the first arm 5. Therefore, the elbow swivel portion 6 can rotate horizontally with respect to the first arm 5 around the second rotation axis 26.

Further, in FIG. 4B, the third rotation shaft 30 is supported in the vertical direction at the tip of the elbow swivel portion 6, and the lower mediation plate 31 can rotate horizontally at the lower portion of the third rotation shaft 30. Is supported by. The rear end portion of the second arm 7 and the lower intermediary plate 31 are connected to each other by allowing the upright plates that are fitted to each other to penetrate the fourth joint pin 32. Moreover, the upper mediation plate 33 is rotatably supported in the horizontal direction on the upper part of the third rotation shaft 30, and the rear end portion 8a of the elevating cylinder 8 and the upper mediation plate 33 are connected by the fifth joint pin 34. There is. Therefore, the second arm 7 is movable in the horizontal direction around the third rotation axis 30 of the elbow swivel portion 6.
Moreover, the elevating cylinder 8 provided on the upper part of the second arm 7 is provided with a cylinder rod 37 capable of advancing and retreating to the cylinder tube 36 having the rear end portion 8a, and the tip end portion of the cylinder rod 37 is on the tip end side of the second arm 7. It is connected to the part. Therefore, the second arm 7 can be rotated in the vertical direction around the fourth joint pin 32 and the fifth joint pin 34 by expanding and contracting the cylinder rod 37 of the elevating cylinder-8.

Next, the grip portion 12 and the operating member 13 attached to the tip of the second arm 7 will be described. In FIG. 2, a support shaft 11 is rotatably hung on a horizontal shaft 35 provided between a pair of support frames 38 protruding from the tip of the second arm 7. A load cell 41 is installed in the direction in which the support shaft 11 hangs down, and a grip portion 12 is installed at the lower end thereof. The grip portion 12 includes, for example, a hook portion 39 capable of supporting a reinforcing bar 14 or the like as a heavy long member and having an opening 39a, and an opening / closing portion 40 capable of opening and closing the opening 39a. The opening / closing portion 40 can rotate around the support shaft 42 at the upper end thereof, and can selectively take a position where the opening 39a is closed and a position where the opening 39a is flipped up.

An elastic member 40b that can come into contact with a long member such as a reinforcing bar 14 is integrally formed in the opening / closing portion 40 via a branched branch plate 40a. Further, the load of the transported object such as the reinforcing bar 14 gripped by the grip portion 12 is detected by the load cell 41. When the load exceeds the threshold value, an alarm can be output and overload prevention measures such as interrupting the lifting operation can be taken. In addition to the overload prevention measures, the power required for transportation and assembly may be calculated and output. Further, it is possible to control so as to increase or decrease the transport speed according to the case where the weight of the object to be transported is heavy or light.

Further, an operation grip 45 supported by a frame portion 44 fixed to one of the support frames 38 provided at the tip end portion of the second arm 7 is attached. For example, a six-axis sensor 46 is housed in the lower housing of the operation grip 45 as a sensor unit for detecting the moving direction of the operation grip 45. The operation grip 45 is held by the operator by hand and the grip portion 12 holding the reinforcing bar 14 is pushed and pulled in an arbitrary direction, for example, in a horizontal direction or a vertical direction, and the direction and strength are electrically controlled by the six-axis sensor 46. It can be detected as a signal and the transport direction of the reinforcing bar 14 can be controlled by an electric motor (not shown). The operating member 13 includes an operating grip 45 and a six-axis sensor 46.
Further, an activation switch 43 for turning on the activation of the handling robot 1 is installed on the upper surface of the operation grip 45. The movement operation of the handling robot 1 can be performed only when the operation grip 45 is moved while pressing the start switch 43. If the start switch 43 is not pressed, the handling robot 1 will not start even if the operation grip 45 is operated, so that it is safe.

The six-axis sensor 46 is a sensor unit that detects the moving direction, direction, rotation, and the like of the operating grip 45. The movement direction of the operation grip 45 is detected by the six-axis sensor 46, converted into an electric signal and transmitted to a control unit (not shown), and the first arm 5 is subjected to the weight of the reinforcing bar 14 detected by the load cell 41. The movement of the handling robot 1 can be controlled by a drive motor or the like built in the second arm 7.

FIG. 5 is a diagram showing an example of a turning range of the handling robot 1 according to the present embodiment. In FIG. 5, the handling robot 1 can rotate 180 degrees to the left and right around, for example, the base turning portion 4 in a state where the first arm 5 and the second arm 7 are linearly arranged, and can be rotated at any position within the range. The second arm 7 can rotate 180 degrees with respect to the first arm 5 via the elbow swivel portion 6. However, this rotation range of the handling robot 1 is only an example, and for example, it may be possible to rotate 360 degrees, and the rotation angle range can be arbitrarily set.
The electric mechanism, hydraulic mechanism, etc. for driving the handling robot 1 that grips the reinforcing bar 14 such as movement and turning are built in the boxes of the first arm 5 and the second arm 7, and known techniques are adopted. can.

The handling robot 1 according to the present embodiment has the above-described configuration, and then a method of using the handling robot 1 will be described by taking as an example the transportation and assembly of the reinforcing bars 14 at the underground site of the excavation tunnel shown in FIG.
In FIG. 6, at the underground skeleton construction site, girders 49 are installed between the retaining walls, and intermediate piles 2 for laying lining plates in the vertical direction are installed at predetermined intervals. Reinforcing bars 14 used for transportation and assembly at the site can be appropriately used, but for example, the diameter is about 51 mm, the length is 13 m, and the weight is about 210 kg. It is something that is lifted and worked by a degree.
At the skeleton construction site, for example, a crane or a hoist crane 50 temporarily places the reinforcing bars 14 as a reinforcing bar bundle on the foundation concrete one by one by the handling robot 1 at a predetermined position, for example, at a predetermined position on the gantry 51 at predetermined intervals. It shall be installed.

Therefore, the handling robot 1 is attached to the intermediate pile 2 at a position close to the place where the reinforcing bar 14 should be installed and moved to the position of the reinforcing bar bundle, and the central portion in the longitudinal direction of one reinforcing bar 14 is attached to the hook portion 39 of the grip portion 12. The opening 39a is closed by the opening / closing portion 40. In this state, for example, an attendant for steady rest grips both ends of the reinforcing bar 14 to balance the reinforcing bar 14, but since the weight of the reinforcing bar 14 is borne by the grip portion 12, the attendant has almost no weight burden. Then, when the operator grasps the operation grip 45 provided at the tip of the second arm 7 by hand and pushes or pulls the reinforcing bar 14 in the direction in which it should be placed, the direction and strength are adjusted to six axes. The handling robot 1 is moved by detecting it with the sensor 46 and transmitting it to an electric mechanism (not shown) or the like.

The handling robot 1 rotates the first arm 5 around the first rotating shaft 20 of the base turning portion 4 according to the moving direction of the operator, and the elbow turning portion about the second rotating shaft 26 and the third rotating shaft 30. By horizontally rotating the 6 and the second arm 7 at an appropriate angle, the reinforcing bar 14 gripped by the grip portion 12 is transported to a predetermined position. Moreover, when the reinforcing bar 14 is moved up and down in order to avoid obstacles, the elevating cylinder 8 is expanded and contracted by lifting the operation grip 45 upward or pushing it downward, and the grip portion 12 together with the second arm 7. The reinforcing bar 14 gripped by is moved up and down.
In this way, after the reinforcing bar 14 is moved to the predetermined position, the opening / closing portion 40 is opened to drop the reinforcing bar 14 from the opening 39a of the hook portion 39 to the predetermined position and place the reinforcing bar 14. Then, the handling robot 1 may be operated to grip and move the next reinforcing bar 14 again, and the reinforcing bars 14 may be sequentially placed at predetermined positions.

Further, when the gantry 51 on which the reinforcing bar 14 is to be placed is separated from the mounting position of the intermediate pile 2 of the handling robot 1, the handling robot 1 should be removed from the intermediate pile 2 and reattached to another closer intermediate pile 2. Just do it. An example of removing the handling robot 1 is as follows. That is, the fifth joint pin 34 and the fourth joint pin 32 are removed from the elbow swivel portion 6 to which the second arm 7 is attached, and the second arm 7 is removed.

Then, the mounting screw of the lower support plate 28 may be removed at the rear end of the elbow swivel portion 6, and the hook portion 27a of the hook plate 27 may be removed from the third joint pin 25 of the first arm 5. Then, the first arm 5 removes the first arm 5 by removing the first joint pin 22 and the second joint pin 23 of the base swivel portion 4, and finally removes the screw from the angle jig 18 of the base swivel portion 4. The root swivel portion 4 can be removed from the flange portion 2a of the intermediate pile 2 with. In this way, each part can be disassembled and transported at the joint portion in a short time.
Further, when the handling robot 1 is reattached to the new intermediate pile 2, the handling robot 1 may be sequentially attached by the reverse operation of the above procedure. In this way, a plurality of reinforcing bars 14 can be placed at predetermined positions while sequentially moving the attachment positions of the handling robot 1 to the intermediate pile 2, and the reinforcing bars 14 can be assembled with the assistance of the handling robot 1.
The handling robot 1 according to the present invention is not limited to a long member such as a reinforcing bar 14, but is, for example, a short reinforcing bar 14 or a short member such as a steel material in which a plurality of short U-shaped reinforcing bars are bundled. It can also be transported by such as, and various transported members can be transported. In these cases, only one operator can carry the item. Further, it is also possible to carry out transportation by one operator and one caregiver depending on the length and weight of the member.

As described above, according to the handling robot 1 and the method of using the handling robot 1 according to the present embodiment, the handling robot 1 can be attached to the intermediate pile 2 temporarily placed at the construction site to transport and assemble the reinforcing bar 14. Moreover, since the attachment / detachment of each component at the joint portion of the handling robot 1 is easy and can be performed in a short time, the reinforcing bar 14 can be transported and assembled while moving the attachment location, so that the assembly efficiency of the reinforcing bar 14 is improved.
Further, since the handling robot 1 can carry and assemble the weight of the reinforcing bar 14, the operator and the caregiver do not bear the weight burden, and the painful work can be reduced. Moreover, it is possible to easily and efficiently assemble a large-diameter or long reinforcing bar 14, which has conventionally been difficult to transport and assemble by human power.
Further, since the operation grip 45 is installed in the vicinity of the grip portion 12 on the tip end side of the second arm 7, there is an advantage that the operation by the operator is easy and the handling robot 1 and the reinforcing bar 14 do not interfere with the movement of the operator.

The handling robot 1 according to the present invention is not limited to the above-described embodiment, and various changes and substitutions can be made without departing from the gist thereof, and the technical scope of the present invention is also in these cases. include. Hereinafter, other embodiments and modifications of the present invention will be described with reference to the same or similar parts and members as those described above.

Next, the handling robot 1A according to the second embodiment of the present invention will be described with reference to FIG. The handling robot 1A according to the second embodiment is first implemented in that it is provided with a base swivel portion 4, a first arm 5, an elbow swivel portion 6 and a second arm 7 detachably attached to the flange portion 2a of the intermediate pile 2. It has a common structure with the form. The tip portion 7a of the second arm 7 has an operation grip 45 and a grip portion 12, and the wheel 54 is installed on the bottom portion 7b near the tip portion 7a. A pair of support legs 55 are connected to a bearing 56 provided below in the vicinity of the corner portion of the bottom portion 7b, and the shaft portion of the wheel 54 is supported by the bearing 56. The wheels 54 project downward from the six-axis sensor 46 of the operating member 13. Although the wheels 54 are provided on one side of the bottom portion 7b of the second arm 7, they may be provided on both sides of the bottom portion 7b.
Therefore, when the rear end portion of the second arm 7 is attached to the elbow swivel portion 6 at the time of assembling the handling robot 1A, the wheel 54 of the tip portion 7a is landed on the ground, so that the operating member 13 may come into contact with the ground. It is possible to prevent damage and make it easier to move.

Further, a pair of support frames 38 project from the tip portion 7a of the second arm 7, and the rotation receiving portion 11a of the support shaft 11 provided with the grip portion 12 can rotate on the horizontal shaft 35 provided between the support frames 38. It is installed. The grip portion 12 can rotate in the vertical direction about the horizontal shaft 35, and when not in use, the grip portion 12 is rotated upward by about 180 ° around the horizontal shaft 35 to rotate the support shaft 11, the chain portion, and the load cell 41. It can be stored between a pair of support frames 38 (see FIG. 8).
At that time, the hook portion 39 can be held by engaging with the locking portion 58 extending in the horizontal direction provided at the upper end of the tip of the second arm 7. Therefore, when the handling robot 1A is being transported or stored, the grip portion 12 of the second arm 7 can be housed between the support frames 38, and the risk of damage can be prevented.

Next, a modified example of the grip portion 12 will be described with reference to FIG.
Since the handling robots 1 and 1A according to the first and second embodiments described above have the hook portion 39 and the lever-shaped opening / closing portion 40 as the grip portion 12, if the distance between the reinforcing bars 14 arranged on the gantry 51 is narrow, the lever There was a risk that the opening / closing portion 40 of the shape would interfere with the reinforcing bar 14 having already been arranged. In this modification, as the grip portion 53, a hook member 59 having a hook shape is provided instead of the hook portion 39 and the opening / closing portion 40 as shown in FIG. Therefore, even if the distance between the reinforcing bars 14 on the gantry 51 is narrow, the reinforcing bars 14 can be individually installed or picked up without interfering with each other.
Since the hook member 59 is connected to the lower part of the load cell 41 as the grip portion 53, it can be used by hooking a slinging jig such as a slinging wire or a sling belt. The grip portion 53 can also be stored between the pair of support frames 38 at the time of storage, and the hook member 59 can be locked to the locking portion 58.

In each of the above-described embodiments, the operation direction, operation strength, and the like of the operation grip 45 are operated by discriminating between the horizontal direction and the vertical direction by the six-axis sensor 46. However, if the operator grips the operation grip 45 and operates it upward or downward to move the handling robots 1 and 1A, it is difficult to move the operation grip 45 directly above or below. It is easy to move diagonally and there is a risk that accurate operation will not be possible.
Therefore, in this modification, only the horizontal direction is operated with respect to the movement of the handling robots 1 and 1A by operating the operation grip 45. The vertical movement may be performed by separately installing an ascending button and a descending button as operation buttons and operating the buttons. This makes it possible to easily and accurately operate the vertical movement.

Further, in the handling robots 1 and 1A according to the above-described embodiments, the heavy long reinforcing bars 14 are moved and assembled, but the objects to be transported are not limited to the reinforcing bars 14, but wood or steel materials. Needless to say, it can be used for moving and assembling various heavy long members and members to be transported such as heavy objects.
Further, in the above-described embodiment, the intermediate pile 2 is used as the support member for attaching the handling robots 1 and 1A, but the present invention is not limited to this. For example, a support column or the like may be used, or a temporary pile or support column for attaching the handling robots 1 and 1A may be installed. Alternatively, various structures such as existing or new buildings and equipment may be detachably attached as support members.

Further, when the handling robots 1 and 1A are removed or relocated, in each of the above-described embodiments, the root swivel portion 4, the first arm 5, the elbow swivel portion 6, and the second arm 7 are divided and reconnected. I tried to do it, but the number of divisions is arbitrary. For example, the base swivel portion 4 and the first arm 5 may be integrated, and the elbow swivel portion 6 and the second arm 7 may be divided and connected to three or two. Alternatively, the handling robots 1 and 1A may be collectively removed and attached from the intermediate pile 2 and the like.
Further, in the above-described embodiment, the first arm 5 and the second arm 7 are detachably connected via the elbow swivel portion 6 as the handling arms of the handling robots 1 and 1A, but the third arm is further connected. Alternatively, more arm members may be detachably provided, or only the first arm 5 may be provided and the base swivel portion 4 may be detachably connected to the rear end portion and operated with the grip portions 12 and 53 at the tip portion. The member 13 may be provided.

1, 1A Handling robot 2 Intermediate pile 4 Base swivel part 5 First arm 6 Elbow swivel part 7 Second arm 8 Elevating cylinder 12, 53 Grip part 13 Operation member 14 Reinforcing bar 20 First rotation shaft 22 First joint pin 23 Second Joint pin 25 3rd joint pin 26 2nd rotation shaft 30 3rd rotation shaft 32 4th joint pin 34 5th joint pin 38 Support frame 39 Hook part 45 Operation grip 46 6-axis sensor 54 Wheel 59 Hook member

Claims (8)

A handling robot that is detachably attached to the support member.
A base swivel portion detachably attached to the support member,
The first arm rotatably attached to the base swivel part,
An elbow swivel portion rotatably attached to the first arm,
A second arm rotatably attached to the elbow swivel portion,
A gripping portion attached to the second arm and capable of gripping the transported member,
It is provided with an operating member that rotates the handling robot in at least one of a horizontal direction and a vertical direction.
Detachable at least one of the joints between the base swivel portion and the first arm, between the first arm and the elbow swivel portion, and between the elbow swivel portion and the second arm.
A handling robot characterized in that the joint portions are connected by pin joining using joint pins. The handling robot according to claim 1 , wherein the grip portion can selectively take a protruding position protruding from the second arm and a storage position housed in the second arm. The operation member includes an operation grip that can move the handling robot in the horizontal direction and the vertical direction, or an operation grip that can move the handling robot in the horizontal direction and an operation button that can move the handling robot in the vertical direction. Item 2. The handling robot according to Item 1 or 2 . The handling robot according to any one of claims 1 to 3 , wherein the grip portion has a hook member. The tip of the second arm has the operating member and a wheel that has landed on the ground.
The handling robot according to claim 1 , wherein the wheels are installed so as to project downward from the operating member. It is a method of using a handling robot that is detachably attached to a support member.
The first arm, the elbow swivel portion, and the second arm, which are rotatable and detachable, are sequentially connected to the base swivel portion detachably attached to the support member.
The conveyed member can be held by the grip portion provided on the second arm.
Operate with the operating member to transport the transported member to a predetermined position while rotating at least one of the first arm, the elbow swivel portion, and the second arm in at least one of the horizontal direction and the vertical direction. death,
Detachable at least one of the joints between the base swivel portion and the first arm, between the first arm and the elbow swivel portion, and between the elbow swivel portion and the second arm, and the joint portion. Is a method of using a handling robot, which is characterized in that it is connected by pin joining using a joint pin. The method of using the handling robot according to claim 6 , wherein the transported member is transported and installed at a predetermined position by one or more operators, or by one or more operators and an assistant. The method of using the handling robot according to claim 6 or 7 , wherein the transported member is a reinforcing bar.

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